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DOFBOT SE📖
1.First Trial
  • 1.First Trial
  • 2.Analysis of common problems
  • 3.Calibration offset
  • 4.Precautions for DIY Robotic Arm
  • 5.Robotic arm gripping anomaly solutions
2.Assembly Course
  • 1.Installation video
  • 2.Calibrate the Robotic Arm
  • 3.Install the map
3.Remote Control Course
  • 1.Mobile APP control
  • 2.USB handle control
  • 3.PC software control
4.Preparation
  • 1.Manage APP control service
  • 2.Manage JupyterLab service
  • 3.Write STM32 firmware
  • 4.Introduction to expansion board
5.Basic Control Course
  • 1.Control RGB light
  • 2.Control buzzer
  • 3.Control single servo
  • 4.Read servo angle
  • 5.Control all servo
  • 6.DOFBOT up down left right
  • 7.DOFBOT dancing
  • 8.DOFBOT memory action
  • 9.DOFBOT grab block
  • 10.Porter
  • 11.Stack block
  • 12.USB camera display
  • 13.Synchronous action
6.AI Vision Basic Course
  • 1.Gesture Recognition
  • 2.Color threshold adjustment Color calibration
  • 3.Color recognition
  • 4.Face recognition
  • 5.Garbage recognition
  • 6.Yolo object recognition
  • 7.Real-time web view
7.2D Visual Tracking Course
  • 1.PID algorithm basics
  • 2.Color block positioning
  • 3.Color block tracking
  • 4.Face positioning
  • 5.Face tracking
  • 6.Gesture recognition fixed action
8.2D Visual Grasping Course
  • 0.Visual positioning
  • 1.Gesture recognition stack blocks
  • 2.Color recognition grab blocks
  • 3.Catch game
  • 4.Color sorting and stacking
  • 5.Garbage sorting
  • 6.Color interaction
9.2D Mediapipe Course
  • 1.Hand detection
  • 2.Posture detection
  • 3.Overall inspection
  • 4.Face detection
  • 5.Face recognition
  • 6.Face effects
  • 7.3D object recognition
  • 8.Paintbrush
  • 9.Finger control
  • 10.Gesture recognition
  • 11.Gesture control robotic arm action group
  • 12.Arm posture control robotic arm
  • 13.Palm Targeting
  • 14.Robotic arm tracks the palm
  • 15.Fingertip trajectory recognition
  • 16.Fingertip trajectory control robotic arm
  • 17.Gesture Grasp and Release Objects
  • 18.Finger Control Robot Arm
10.AI Large Model Voice Module (Must Read)
  • 1. Introduction to AI Large Model Voice Module
  • 2. Flash the firmware (Must read)
  • 3. Modify the wake-up word and command word
11.2D Voice Control Course
  • 1.Simple Voice Control
  • 2.Smart Voice Control
  • 3.Voice Action Control
  • 4.Memory Learning Mode
  • 5.Color Recognition with Voice Broadcast
  • 6.Color Recognition and Grasping with Voice Broadcast
  • 7.Color Recognition and Sorting with Voice Broadcast
  • 8.Voice Recognition Target Tracking
  • 9.Voice Control Stacking
  • 10.Voice Control Color Sorting
  • 11.Garbage Recognition with Voice Broadcast
  • 12.Garbage Sorting with Voice Broadcast
12.Robotic Arm Control and Inverse Kinematics
  • 1. Robotic arm ROS control
  • 2. Inverse solution
13.3D Sorting and Grasping Course
  • 1.AprilTag ID sorting
  • 2.MediaPipe Gesture-AprilTag ID sorting
  • 3.MediaPipe Gesture-AprilTag distance sorting
  • 4.Block color sorting
  • 5.Block different shape sorting
  • 6.Yolov11 garbage sorting
14.3D Tracking Course
  • 1.AprilTag Tracking
  • 2.Color Block Tracking
  • 3.KCF Object Tracking
15.3D Voice Control for Sorting & Tracking Course
  • 1.Voice Control AprilTag ID Sorting
  • 2.Voice Control Color Block Sorting
  • 3.Voice Control Yolov11 Garbage Recognition Sorting
  • 4.Voice Control AprilTag Tracking
  • 5.Voice Control Color Block Tracking
  • 6.Voice Control Object Tracking
16.AI Model Basics
  • 1.AI large model types and principles
  • 2.RAG retrieval enhancement and model training samples
  • 3.Embodied intelligent robot system architecture
  • 4.Embodied intelligent functions core source code
17.AI Model Development
  • 1. Register a model service provider account
  • 2. Configure API-KEY
  • 3. Introduction to Dify
  • 4. Basic Dify Features
  • 5. AI Large Model Development - chatbot
  • 6. Deploy the RAG knowledge base
  • 7. RAG knowledge base + chatbot
  • 8. AI agent workflow
18.AI Model – Text Version
  • 1.Semantic understand instruction following
  • 2.Multimodal visual understand
  • 3.Text Large Model + robotic arm control
  • 4.Multimodal Large Model+video understanding
  • 5.Multimodal Large Model+robotic arm gripping
  • 6.Multimodal Large Model+robotic arm tracking
  • 7.Multimodal Large Model+robotic arm sorting
  • 8.Multimodal Large Model+robotic arm handling
  • 9.Multimodal Large Model+Color Blocks Back In Place
  • 10.Multimodal Large Model + Intent Prediction + Robotic Arm Gripping
  • 11.Text Large Model + YOLOv11 + Intelligent Garbage Classification
19.AI Model – Voice Version
  • 1.Semantic understand instruction following
  • 2.Multimodal visual understand
  • 3.Text Large Model + robotic arm control
  • 4.Multimodal Large Model+video understanding
  • 5.Multimodal Large Model+robotic arm gripping
  • 6.Multimodal Large Model+robotic arm tracking
  • 7.Multimodal Large Model+robotic arm sorting
  • 8.Multimodal Large Model+robotic arm handling
  • 9.Multimodal Large Model+Color Blocks Back In Place
  • 10.Multimodal Large Model + Intent Prediction + Robotic Arm Gripping
  • 11.Text Large Model + YOLOv11 + Intelligent Garbage Classification
20.AI Model – Fun Applications
  • 1.AI Butler-Intent Inference
  • 2.AI Encyclopedia-Arithmetic Master
  • 3.AI Encyclopedia-You asked I Pointed
  • 4.AI Encyclopedia-Nutritional Analysis
  • 5.AI Encyclopedia-Problem Solving Expert
  • 6.AI Encyclopedia-English Spelling
  • 7.AI Butler-Garbage Sorting
  • 8.AI Top Chef
21.MoveIt2 Course
  • 1. MoveIt Configuration
  • 2. MoveIt Usage
  • 3. MoveIt Drive Real Robot
  • 4. MoveIt Random Movement
  • 5. MoveIt Forward Kinematics Design
  • 6. MoveIt Inverse Kinematics Design
  • 7. MoveIt Cartesian Path
  • 8. MoveIt Scene Design
  • 9. MoveIt Trajectory Planning
  • 10. MoveIt Collision Detection
22.YOLOv11 Development Course
  • 1. YOLO Environment Setup
  • 2. CLI Usage
  • 3. Object Detection
  • 4. Instance Segmentation
  • 5. Pose Estimation
  • 6. Image Classification
  • 7. Oriented Bounding Boxes Object Detection
  • 8. Model Conversion
  • 9. Model Prediction
23. Linux Operating System
  • 1.Introduction to Linux system
  • 2.Ubuntu file system
  • 3.Ubuntu common commands
  • 4.Ubuntu common editors
  • 5.Ubuntu software operation commands
  • 6.Virtual machine installation
  • 7.SSH remote control
  • 8.VNC remote control
  • 9.Transfer files remotely
  • 10.Driver library and communication
  • 11.Static IP and hotspot mode
  • 12.Bind device ID
  • 13.Capacity expansion and resource allocation
  • 14.Update system software sources
  • 15.Set root user password
  • 16.sudo free password
  • 17.Connect to WiFi network
  • 18.View system version
  • 19.Customized service management
  • 20.Back up system image
24.OpenCV Course
  • 1.Introduction to Open Source CV
  • 2.Image reading and display
  • 3.Picture writing
  • 4.Image Quality
  • 5.Pixel operations
  • 6.Image zoom
  • 7.Picture cut
  • 8.Picture pan
  • 9.Picture mirroring
  • 10.Affine transformation
  • 11.Picture rotation
  • 12.perspective transformation
  • 13.Grayscale processing
  • 14.Binary image
  • 15.Edge green detection
  • 16.Line segment drawing
  • 17.Rectangular circle drawing
  • 18.Text and picture drawing
25.Advanced Visuals Course
  • 1. QR Code
  • 2. Human Pose Estimation
  • 3. Object Detection
  • 4. AR Vision
  • 5. ROS + OpenCV Basics
26.ROS2 Basic Course
  • 1.Introduction to ROS2
  • 2.ROS2 install Humble
  • 3.ROS2 development environment
  • 4.ROS2 workspace
  • 5.ROS2 function package
  • 6.ROS2 node
  • 7.ROS2 topic communication
  • 8.ROS2 service communication
  • 9.ROS2 action communication
  • 10.ROS2 custom interface message
  • 11.ROS2 parameter service case
  • 12.ROS2 meta-function package
  • 13.ROS2 distributed communication
  • 14.ROS2 DDS
  • 15.ROS2 time related API
  • 16.ROS2 common command tools
  • 17.ROS2 rviz2 use
  • 18.ROS2 rqt toolbox
  • 19.ROS2 Launch startup file configuration
  • 20.ROS2 recording and playback tool
  • 21.ROS2 URDF model
  • 22.ROS2 Gazebo simulation platform
  • 23.ROS2 TF2 coordinate transformation
27.Jupyter Lab Usage Course
  • 0.Read the document before operation
  • 1.Jupyter Lab environment construction
  • 2.Basic use of Jupyter Widgets
  • 3.Launch JupyterLab
  • 4.How to Use JupyterLab
Download
  • APP(iOS/Android)
  • VM File
  • Instruction manual
  • Hardware_3DModelFile
  • PC_Software
  • Code
  • Communication Protocol-Python Library
  • Tools
Download ZIP

Welcome to DOFBOT SE repository

2. Configure API-KEY

AI Large Model - Dify

1. Dify Overview

Dify is an open-source LLM application development platform that combines BaaS and LLMOps concepts. It supports low-code/no-code rapid building of production-grade generative AI applications, is compatible with hundreds of models, and has built-in enterprise-level RAG and visual workflows. It supports private deployment and full-cycle LLMOps control.

Dify (Define + Modify) is designed for developers and enterprises, providing an integrated solution of "backend as a service + BaaS + LLMOps" to reduce the barrier to transforming generative AI applications from prototype to production while ensuring data security and compliance.

One of Dify's product forms is the "AI Application Factory," which enables "rapid creation of chatbots and content generators through a low-code interface." By configuring the Decision Layer and Execution Layer, we can plan task steps and select execution function actions to achieve dual-model reasoning. Additionally, for more complex features, by adding a Knowledge Base, the Decision Layer can reference content from the Knowledge Base when planning actions to generate correct steps.

2. Entering the Dofbot-SE Dify Configuration Interface

Dofbot-SE Dify service starts automatically on boot

Enter the virtual machine's IP address in your browser to access the configuration interface. The interface is shown below,

image-20251219104054317

On first login, you need to enter your email and password,

Email: yahboom@163.com

Password: yahboom123

After clicking login, you can access the configuration interface,

image-20251219104230811

In Studio, there are four chat assistants:

  • DOFBOT-Pro International Version User Decision Model: International version decision layer
  • DOFBOT-Pro International Version User Execution Large Model: International version execution layer
  • DOFBOT-Pro 国内用户执行层大模型: Chinese execution layer
  • DOFBOT-Pro 国内决策层大模型: Chinese decision layer

Overseas users primarily use DOFBOT-Pro International Version User Execution Large Model and DOFBOT-Pro International Version User Decision Model.

Click Knowledge beside Studio to see two knowledge base files,

image-20251219111004910

[决策层训练样例cn_1211更新] : Chinese knowledge base

[决策层训练样例en.xlsx] : English knowledge base

Chinese users use the 决策层训练样例cn_1211更新 knowledge base, while overseas users use 决策层训练样例en. The content is the same, just in different languages.

3. Studio

When using the chat assistant in Studio, let's look at the international decision layer - [DOFBOT-Pro International Version User Decision Model] as an example,

image-20251219112130968

The content in item 1 is the prompt. In the prompt, we give the large model a role, telling it what it can do, along with some output restrictions, basic requirements, special cases, etc.

In item 2 is the knowledge base we want to add. Here we selected [决策层训练样例en] and configured some settings for the imported knowledge base,

image-20251219112506457

In item 3 is the large model we selected. You can also choose other large models. Currently, [qwen-max-latest] has the best results and generally doesn't need modification. After selecting a large model, you can also configure the model call settings,

Note: The qwen-vl-max model will be removed from the platform in July 2026. You will need to use a different large visual model instead.

image-20251219113022416

In item 4, we can enter content to chat with the large model to test whether the model's decision actions are accurate,

image-20251219113738763

For the execution layer, taking the international execution layer as an example, the difference is in the [INSTRUCTIONS] section. In addition to giving the large model a role, output restrictions, basic requirements, and special cases, this section also explains which action functions correspond to which actions. For example, the robot arm dance command corresponds to the action arm_dance(). Additionally, for some functions that require parameters, the meaning of the parameters must also be explained. For example,

xxxxxxxxxx
- Adjust joint x to y degrees: `adjust_joint(x,y)`
  - Description: Adjust the joint with number `x` to rotate to `y` degrees. Valid values for `x`: 1 to 6; valid values for `y`: 0-180.

image-20251219150718567

Also, if you need to use visual functionality for image understanding or video understanding, you need to turn on the visual switch below. When selecting a model in the upper right corner, you need to select one with "vl", such as qwen-vl-max-latest shown in the image. Currently, this is the best multimodal large model in Dify.

4. Knowledge (For details, refer to the specific chapters later)

In the knowledge base, taking the Chinese knowledge base as an example [决策层训练样例en], clicking to view will show that it is an .xlsx file,

image-20251219151732739

Click to view this file,

·image-20251219151853085

You can click on one of them to take a look,

xxxxxxxxxx
query":""What is the correct answer to this question?"";"answer":""Strictly execute according to the following steps, output only one action function at a time:
1. Call the seewhat() function to view the question;
2. First reply with the result of the question;
3. Find the answer options for the question on the desktop;
4. Call the point_to(x1, y1, x2, y2) function to point to the answer option (where x1, y1, x2, y2 are the relevant coordinate parameters of the position of the answer option).
5. Call finish_dialogue() to end the task and return to the initial position""

image-20251219152325517

query represents the instruction we give to the large model, and answer represents the content we expect the large model to plan and output.

If during testing you find that the large model cannot plan the preset content, you can modify the keywords below and add instruction keywords to help the large model match the best content in the knowledge base.

If you need to add segments, click [+ Add Chunk], enter the query and answer content. You can copy the original content and modify the query and answer to your own content.

image-20251219152807893

5. Modify API-KEY

As shown in the image below, click the avatar in the upper right corner and go to Settings,

image-20251219153106627

After entering, click [Model Provider],

image-20251219153235541

Click [Setup] on the right. In the Dify we provided, only Tongyi has been added. If you want to add other model providers, you can refer to the later tutorials,

image-20251219153350969

Then enter the Tongyi api-key you registered in the previous section. It is a key starting with "sk". For the [Use International Endpoint] option below, Chinese users select False, and international users select True. After entering, click [Save].

image-20251219153732753

If you need to add multiple keys, click [Config] - [Add API Key].

6. Import Other Provider Models (This step is for users who need to use other large models)

The advantage of this Dify deployment is that it can seamlessly connect to most global AI models: through Dify's model provider plugins, you can quickly and seamlessly connect to hundreds of global AI models without the trouble of deployment and setup. Here we take connecting to openrouter as an example.

Find the openrouter model and click Install

image-20251226144933884

After installation, refresh Dify and enter the key to save.

image-20251226145945244

Switch to the openrouter model in the decision layer/execution layer (if not charged, check free models on openrouter). Finally, publish it. The execution layer must use a visual model with VL in the name.

image-20251226150251712

7. International User Local Function Package Configuration

7.1 Dify Decision Layer and Execution Layer Switching

Since the default parameters are for Chinese domestic users, overseas users need to switch the Dify decision layer and execution layer IDs.

Configuration path /home/yahboom/LargeModel_ws/src/largemodel/config/

Open the file large_model_interface.yaml

Switch the decision layer and execution layer IDs: Comment out lines 31 and 32, uncomment lines 34 and 35.

image-20260414150929150

Also, configure tts_language to en below

image-20260320174615742

7.2 Voice Parameter Configuration

File path: /home/yahboom/LargeModel_ws/src/largemodel/config/yahboom.yaml

Comment out the Chinese version parameter options and enable the international version parameters. Users can choose to use online/offline voice recognition and synthesis according to their needs.

For online voice recognition and synthesis, change use_oline_asr and useolinetts parameters to True,

For offline voice recognition and synthesis, change use_oline_asr and useolinetts parameters to False.

image-20260320174911005

7.3 Compile Function Package

Enter the following commands to compile the function package to apply the changes.

cd /home/yahboom/LargeModel_ws/
colcon build --packages-select largemodel
source install/setup.bash
Register a model service provider account
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